2014-15
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Browsing 2014-15 by Subject "Amit Kumar"
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Item Design And Development Of A Robot End Effector Based On Tactile Sensor(2015-12-22T13:20:50Z) Amith, Kumar; Atul, Kishan; Riju, Krishna; Season M, GeorgeA variety of sensors are being used for robots, such as vision type sensors and tactile type sensors. While computer vision is often employed to recognize the object shape with the position and orientation, tactile sensing is an essential ability for a robot to handle an object. The tactile sensor attached on the robot can sense the object surface, even when the robot vision cannot get the clear surface image. In bilateral teleportation, information is transmitted not only from the master to the slave but also from the slave to the master. Therefore the operator on the master side can feel tactile sensation from the slave side as well. In this project an attempt has been made to design and develop a tactile sensor system for a robot manipulator and an active sensing technique to realize an object recognitions concerning object shape and object edge tracing . The proposed tactile sensor units consist of three thin sheets of force –sensitive resistors arranged triangularly with the peripheral circuits. The fabricated sensing devices are “Flexi-Force,” which are a sort of the force-sensitive resistor produced by Tekscan. This sensing device is made of thin polyester film with 0.127-mm thickness. The active-sensing area is 9.53mm in diameter. The device is capable of sensing forces between 0 and 4.4 N. Once the robot arm moves near the object, the end effector senses source object and its edge physically and generates a signal to micro controller, which intern microcontroller processes the data which is passed from the end effector. After the data processing of the micro controller completed, it generates a signal to the LCD unit which intern produces final object edge detection result.